cmake_minimum_required(VERSION 3.5)
project(control)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

include_directories(include include/common include/nlohmann)  
link_directories(src)


set (
  DEPENDENCY_LIST
  unitree_api
  rclcpp
  std_msgs
  geometry_msgs
)

# find dependencies
find_package(geometry_msgs REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(unitree_api REQUIRED)
find_package(std_msgs REQUIRED)

# node1
add_executable(control src/control.cpp src/ros2_sport_client.cpp)

ament_target_dependencies(control ${DEPENDENCY_LIST})


install(TARGETS
    control
    DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}
)

install(DIRECTORY
  config
  DESTINATION share/${PROJECT_NAME}
)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()


ament_package()
